Specifications
App - 4
(3) Basic parameter of the MR-H10A servo amplifier (For details, refer to the
instruction manual.)
(For the demonstration machine, set the parameter No.3 (ST0) to "1".)
Setting value
Initial
value
Pr No.
abbr.
Name
Setting range Unit
Function description
3 3 0
MSR*
Motor series
0 to 3
0: HA-SH standard 2: HA-UH flat
1: HA-LH low-inertia 3:HA-FH
053 053
1
MIY*
Motor type
023 to 2202
Upper 2 digits : Motor rated output (Unit: 100W)
Last 1 digit : Rated rotation speed (Unit:
1000rev/min.)
053
3000 rev
/
min
50 W
0000
Without regenerative
brake option
0000
2
STY*
Servo type
0000 to 0D05h
0
1
0
2
1) 0 to e according to the type of regenerative
brake option
2) Servo loop
0: Position 1: Position-speed
2: Speed 3: Speed-torque
4: Torque 5: Torque-position
0001 0000
3
STO*
Function selection 1
0000 to 2111h
1234
1) Absolute position detection
0: Invalid 1: Valid
2) External dynamic brake
0: Without 1: With
3) Pin 23 function of connector CN1
0: Zero speed detection ZSP
1: Electromagnetic brake interlock
4) Pulse train input system
0: Open collector
1: Differential receiver
1 1
4
CMX
Command pulse
multiplying factor
(numerator)
1 to 50000
1 1
5
CDV
Command pulse
multiplying factor
(denominator)
1 to 50000
Command pulse
input f1
CMX
CDV
Position command
pulse f2
f2=f1
CMX
CDV
≤
1
50
CMX
CDV
≤ 50
(Refer to the next page)
100 100 6
INP
In-position range
0 to 50000 PLS
Sets a droop pulse value to output the positioning complete signal.
70 70 7
PG1
Position control gain
1
4 to 1000
rad/sec
Position loop gain. Sets this gain to improve trace ability within the
range where overshooting does not have a too high value.
3 3 8
PST
Smoothing
0 to 50000
msec
Sets time constant when setting the primary delay filter to the position
command.
9
10
11
12
13
14
15
Not used for positioning
SC1 Internal speed command 1 speed (Speed torque)
SC2 Internal speed command 2 speeds (Speed torque)
SC3 Internal speed command 3 speeds (Speed torque)
STA Acceleration time constant (Speed)
STB Deceleration time constant (Speed)
STC S-curve acceleration/deceleration time constant
TQC Torque command time constant (Torque)
0 0 16
TLT
Torque limit time
constant
0 to 50000
msec
Sets time constant when setting the primary delay filter to the torque
limit command
0001
(Speed, droop pulse)
0001
17
MOD
Monitor output mode
selection
0000 to 0909h
00
Monitor 2 outpu
t
Monitor 1 outpu
t
Output details are
shown right.
0: Motor speed ( 8V/max.speed)
1: Torque (
8V/max.torque)
2: Motor speed (
8V/max. speed)
3: Torque (
8V/max.torque)
4: Current command output
5: Command pulse frequency (
8V/400KPPS)
6: Droop pulse 1/1 (
11.6V/2048PLS)
7: Droop pulse 1/4 (
11.6V/512PLS)
8: Droop pulse 1/16 (
11.6V/128PLS)
9: Droop pulse 1/32 (
11.6V/64PLS)